妃 τratk エ n 匸 u1≧ し ro ユ. The image of wel ng jinesirlc ] 11ding s匸raiglltalrdallgled line 、 vere acquired by CCD curnera thut wasseL on t ・ipofthe re 匸 al'III ・ The weldin9 】 hie 、 va5 clctvcterl by apPlyi ] 1gso ] τ1e image pr 〔, cessing to the image・In this we ing [ob じ t9 . 1 ,stelll , accclerution alid dcceterat.ion of wddillg spced are c⊂ mducle (〕t. 1 } reduce wclding proce Dstir τle・ Ill this case , wclding current is〔: 01〕tro ] lefl in ucc 〔 , rdance with the speed chttnge tf , ke the

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... eldpc1 鳳 rad(m叩timum . The contrd system was constructed u 醤 ng Neura1 .N etwork ill which g 'e "metricparameters 〔 〕 負 he In ⊂ ) lten pool we [. e it叩uし 匚 ed to the i貫 、 Put jayer and thc optimum welillg curr 'e 飢 Nvasoul . put し ed t〔 〕 thcりu しPut layer 、 The ge 〔 } metr ・ ic parame [ ers uf the mo 玉ten pool are obtaine @by applyingthe imagc process[ng し 〔〕 the image capturcd by another ⊂⊃CDcan ユ era . The effe〔 ・しi 、・ cne $ s the inobilewdding r 〔 , bot s } s し cln Nvas conhrrned by 9− onlc ' "'elcli [lg control